EP1170643B1 - Méthode et dispositif de transmission sérielle de données entre un système de mesure de position et une unité de traitement - Google Patents

Méthode et dispositif de transmission sérielle de données entre un système de mesure de position et une unité de traitement Download PDF

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Publication number
EP1170643B1
EP1170643B1 EP01113589A EP01113589A EP1170643B1 EP 1170643 B1 EP1170643 B1 EP 1170643B1 EP 01113589 A EP01113589 A EP 01113589A EP 01113589 A EP01113589 A EP 01113589A EP 1170643 B1 EP1170643 B1 EP 1170643B1
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EP
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Prior art keywords
measuring system
transmission
time
processing unit
position measuring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP01113589A
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German (de)
English (en)
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EP1170643A3 (fr
EP1170643A2 (fr
Inventor
Robert Wastlhuber
Erwin Bratzdrum
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Dr Johannes Heidenhain GmbH
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Dr Johannes Heidenhain GmbH
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Publication of EP1170643A3 publication Critical patent/EP1170643A3/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4144—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using multiplexing for control system

Definitions

  • the present invention relates to a method and a device for serial data transmission between a position measuring system and a processing unit.
  • the object of the present invention is therefore to provide a method and a device for serial data transmission between a position measuring system and a processing unit, which ensures that the detection of position data in the position measuring system always takes place at defined times.
  • the measures according to the invention now ensure that, in particular even in the case of the requested position data acquisition during the current data transmission, the position data or position measurement values are always recorded or stored in the position measuring system at defined times. This is also guaranteed if, for example, a large number of position measuring systems are to be interrogated simultaneously.
  • Position data request signals for requesting position data for the position control or for the digitization of a scanned by a touch probe workpiece contour may be provided; There are different processing priorities for both types of position data request signals.
  • FIG. 1a shows a time segment of the transmission protocol between a processing unit (NC) and a position measuring system (ENCODER), ie the data transmitted by the processing unit to the position measuring system in a specific time interval. Not shown is the data transfer in the other direction, ie from the position measuring system to the processing unit.
  • NC processing unit
  • ENCODER position measuring system
  • a first data channel is used for the data transmission from the processing unit to the position measuring system; a second data channel is used for data transmission from the position measuring system to the processing unit.
  • the position measuring system used may be a known incremental or absolute position measuring system on a machine tool, in which the respective position data are processed in a conventional manner for serial transmission.
  • the position data and optionally further data are then transmitted as digital data words DATA1 - DATA4 or as data packets consisting of a plurality of such data words DATAn from the position measuring system to the processing unit.
  • the processing unit is designed as a numerical machine tool control.
  • data is transmitted in the form of digital data words DATA or in the form of corresponding data packets from the processing unit to the position measuring system, i. a bidirectional communication is provided between the position measuring system and the processing unit.
  • a bidirectional communication is provided between the position measuring system and the processing unit.
  • digital data words DATA1 - DATA4 with a word length of 10 bits are exchanged between the position measuring system and the processing unit;
  • a position data request signal RQ arrives in the processing unit.
  • a position control loop can request current position data.
  • the instantaneous transfer of the current position data from the position measuring system is requested in the present example at time t 1 .
  • a position signal which describes the temporal relative position of the position data request signal RQ for the data word DATA1 or possibly the data packet being transmitted.
  • the time difference ⁇ t J between the beginning of the transmission of the data word DATA1 and the arrival of the position data request signal RQ is determined as the corresponding position signal, ie the time between the two times t 0 and t 1 .
  • the counter is to be reset to the corresponding start counter value Z (t 0 ).
  • start counter value Z (t 0 ) it would also be possible to count down from a suitable start counter value Z (t 0 ).
  • a corresponding position signal could also indicate, for example, the time interval between t 1 and t 2 , ie the time interval between the arrival of the position data request signal RQ and the termination of the transmission of the data word DATA1.
  • the relative position of the signal RQ could be determined at an arbitrarily selected time during the transmission of the data word DATA1 etc.
  • a position data request command POS_RQ as a digital data word to the position measuring system with which the detection of the actual position data is requested in the position measuring system.
  • This data word also indicates how all transmitted digital data words of this example again have a word length of 10 bits.
  • the transmission of the position data request command POS_RQ is followed by the transmission of the position signal previously determined on the side of the position measuring device or the time difference ⁇ t J from the processing unit to the position measuring system.
  • the determined time difference ⁇ t J is also transmitted serially again as a digital 10-bit data word.
  • the subsequent to t 2 time interval At trans (t 2; t 3) prior to further signal processing in the position measuring system is related by the duration of the transmission of the two digital data words of the position data request command POS_RQ and the time difference .DELTA.t J conditionally..
  • the size of the time interval ⁇ t trans is dependent on the length of the respective transmission path between the position measuring system and the processing unit.
  • a time interval ⁇ t cal between the times t 3 and t 4 follows on the side of the position measuring system.
  • the time interval .DELTA.t cal is related to the processing of the transmitted data words.
  • the position data request command POS_RQ and the time difference .DELTA.t J required on the part of the position measuring system.
  • the current position data could immediately be recorded or stored on the side of the position measuring system. Due to the above-mentioned temporal uncertainty .DELTA.t with respect to the time of arrival of the position data request signal RQ but would not ensure that a clearly defined time for position data detection is present from the time t 1 .
  • the time difference according to the invention determined .DELTA.t J from the time t 4, until finally the current position data are recorded in the position measuring system and stored.
  • the time difference according to the invention determined .DELTA.t J from the time t 4, until finally the current position data are recorded in the position measuring system and stored.
  • a counter in one possible embodiment, also provided the t from the time 4, that is from the time at which the evaluation of the position data request command POS_RQ and the transmitted time difference .DELTA.t J is completed by the time difference .DELTA.t J until the time t 5 counts high. At time t 5 , as described, the acquisition of the current position data then takes place. Likewise is at this point Of course, alternatively a counting down of the corresponding counter or the like. Possible.
  • the position data request signal RQ now hits during the transmission of the data word DATA1 at a somewhat earlier time t 1 .
  • the processing of position data request signals RQ 'possible with which position data for digitizing a scanned workpiece contour from the position measuring system become. It is thus possible to request position data for processing in the processing unit with particular processing priorities from the position measuring system.
  • the digitization of a workpiece contour is usually carried out with the aid of a touch probe which scans the respective workpiece contour and in the case of a generated detection signal transmits the current position data of the probe system to the processing unit, which ultimately via the Position measuring system can be determined.
  • position data for the position control must be available extremely quickly, in particular in the case of highly dynamic control, further processing of the position data for digitizing a workpiece contour is less time-critical. For this reason, it can be provided to provide a plurality of position data request signals RQ, which are assigned different processing priorities.
  • a first position data request signal RQ is provided which, with the highest processing priority, causes transmission of position data to the processing unit, which are used there for position or position control.
  • second position data request signal RQ ' which, with a lower processing priority, causes transmission of the current position data to the processing unit, which are then used there to digitize a workpiece contour.
  • the processing priorities assigned to the various position data request signals RQ, RQ ' have the consequence that such a further priority differentiation in the position query is possible.
  • the currently running transmission of position data to the processing unit can be interrupted, which are required there for digitization and have been requested with the low-priority position data request signal RQ '.
  • the interruption takes place here by the corresponding position data request signal RQ, which has the highest processing priority and causes an immediate transfer of position data for the position control in the processing unit.
  • more than two position data request signals RQ can be provided with corresponding processing priorities, etc.
  • the size .DELTA.t prior or the total time .DELTA.t ' G is then, for example, for the position data request signal RQ' with the second highest processing priority so that within the increased total time .DELTA.t ' G also possibly the request for a position data request signal RQ with the highest Processing priority can be processed.
  • the total time .DELTA.t ' G for a possibly existing position data request signal with third highest processing priority would be so large that within this time then again in any case the request of a position data request signal RQ' with the second highest processing priority can be processed and so on.
  • FIG. 2 is shown in a highly schematic form an embodiment of the device according to the invention.
  • this comprises a position measuring system 20, with which, for example, the relative positions of two mutually movable parts of a machine tool are continuously recorded.
  • a processing unit 10 is provided, for example designed as a numerical machine tool control, which further processes the data supplied by the position-measuring device.
  • two separate data channels 11, 12 are used for bidirectional data transmission between the position-measuring device 20 and the processing unit 10.
  • the data transmission from the position-measuring system 20 to the processing unit 10 takes place via a first data channel 11;
  • Data is transmitted from the processing unit 10 to the position measuring system 20 via a second data channel 12.
  • a time determination unit 13 is schematically indicated, via which, as explained above, in the case of an incoming position data request signal RQ during the transmission of a data word DATA1, the time relative position of the position data request signal RQ to the data word being transmitted is determined. If RQ is determined as a position signal as the time difference .DELTA.t J between the start of transmission of the data word DATA1 and the arrival of the position data request signal described above, the respective time determination unit 21 is preferably formed as a counter.
  • a control unit 21 which executes the above-described signal processing in the position measuring system 20.
  • the position signal transmitted by the processing unit 10 is processed by the control unit 21 so that after a constant total time .DELTA.t G after the input of the position data request signal RQ a detection of the current position data in the position measuring system 20.
  • the control unit 21 can be designed both as a processor and as a hardwired logic circuit.
  • a memory unit 22 is further indicated on the side of the position measuring system 20, in which the currently detected position data are ultimately stored before a processing of the same and transmission to the processing unit.
  • a time determination unit 23 as above is provided, which serves as of the end of the processing of the transferred position data request command POS_RQ and the time difference At J the time difference .DELTA.t J count up to the time at which the position data detected become.
  • the time determination unit 23 is again designed as a counter as indicated above.
  • the processing unit 10 and the position measuring system 20 essentially have the conventionally known construction.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Information Transfer Systems (AREA)

Claims (18)

  1. Procédé pour la transmission de données série entre un système de mesure de position et une unité de traitement, dans lequel des mots de données numériques (DATA1 - DATA4) de longueur définie sont transmis entre l'unité de traitement (10) et le système de mesure de position (20) et
    - dans le cas d'un signal de demande de données de position (RQ) arrivant dans l'unité de traitement (10), avec lequel un circuit de réglage de position demande des données de position actuelles, un signal de position concernant la position relative dans le temps du signal de demande de données de position (RQ) par rapport au mot de données (DATA1) précisément transmis est déterminé pendant la transmission d'un mot de données (DATA1) de l'unité de traitement (10) au système de mesure de position (20) et
    - le signal de position déterminé est transmis ensuite au système de mesure de position (20).
  2. Procédé selon la revendication 1, la différence de temps (ΔtJ) entre le début de la transmission du mot de données (DATA1) et l'arrivée du signal de demande de données de position (POS_RQ) étant déterminée du côté de l'unité de traitement (10) comme signal de position.
  3. Procédé selon la revendication 1, le système de mesure de position (20) garantissant à l'aide du signal de position transmis que les données de position actuelles dans le système de mesure de position (20) sont enregistrées après un temps global défini (ΔtG) après l'arrivée du signal de demande de données de position (RQ).
  4. Procédé selon la revendication 3, les données de position enregistrées étant mémorisées du côté du système de mesure de position (20).
  5. Procédé selon les revendications 2 et 3, une instruction de demande de données de position (POS_RQ) étant transmise sous forme de mot de données numérique par unité de traitement (10) au système de mesure de position (20) après la transmission du mot de données (DATA1).
  6. Procédé selon la revendication 5, la différence de temps (ΔtJ) déterminée étant transmise par l'unité de traitement (10) sous forme de mot de données numérique au système de mesure de position (20) après la transmission de l'instruction de demande de données de position (POS_RQ).
  7. Procédé selon la revendication 6, le temps global prédéfini (ΔtG) entre l'arrivée du signal de demande de données de position (RQ) et l'enregistrement des données de position actuelles dans le système de mesure de position (20) se composant par addition
    - du temps de transmission restant (Δtrest) du mot de données (DATA1) précisément transmis,
    - du temps de transmission indispensable (Δttrans) pour la transmission de l'instruction de demande de données de position (POS_RQ) et la transmission de la différence de temps (ΔtJ),
    - du temps de traitement utilisé (Δtcal) pour l'analyse de l'instruction de demande de données de position (POS_RQ) et de la différence de temps (ΔtJ) transmise et
    - de la différence de temps (ΔtJ) transmise.
  8. Procédé selon la revendication 2, la différence de temps (ΔtJ) étant déterminée à l'aide d'un compteur, qui est réinitialisé à chaque fois au début de la transmission d'un mot de données numérique sur une valeur de compteur de démarrage définie.
  9. Procédé selon la revendication 7, des temps de transmission (Δttrans) éventuellement variables de différents systèmes de mesure de position étant compensés en raison de trajets de transmission de longueur différente sur un temps de transmission (Δttrans) prédéfini, lequel est axé sur le temps de transmission maximum (Δttrans) pour le trajet de transmission le plus long, de sorte qu'on obtient à nouveau le même temps global (ΔtG) pour tous les systèmes de mesure de position.
  10. Procédé selon la revendication 3, des temps globaux (ΔtG) de longueur différente étant prédéfinis pour des signaux de demande de données de position (RQ, RQ') avec différentes priorités de traitement et le temps global le plus court (ΔtG) étant attribué aux signaux de demande de données de position avec une priorité de traitement maximale.
  11. Dispositif pour la transmission de données série entre un système de mesure de position (20) et une unité de traitement (10), dans lequel une transmission de mots de données (DATA1 - DATA4) numériques de longueur définie intervient entre l'unité de traitement (10) et le système de mesure de position (20) et
    - l'unité de traitement comporte une unité de détermination de temps (13), qui, dans le cas d'un signal de demande de données de position (RQ) arrivant dans l'unité de traitement (10), avec lequel un circuit de réglage de position demande des données de position actuelles, détermine un signal de position concernant la position relative dans le temps du signal de demande de données de position (RQ) par rapport au mot de données (DATA1) précisément transmis pendant la transmission d'un mot de données (DATA1) de l'unité de traitement (10) au système de mesure de position (20) et
    - le système de mesure de position (20) comporte une unité de commande (21), qui traite le signal de position transmis par l'unité de traitement (10) en ce sens qu'un enregistrement des données de position actuelles dans le système de mesure de position (20) intervient après un temps global (ΔtG) constant après l'entrée du signal de demande de données de position (RQ).
  12. Dispositif selon la revendication 11, la différence de temps (ΔtJ) entre le début de la transmission du mot de données (DATA1) et l'arrivée du signal de demande de données de position (RQ) servant de signal de position.
  13. Dispositif selon la revendication 12, l'unité de détermination de temps (13) étant conçue comme compteur du côté de l'unité de traitement (10).
  14. Dispositif selon la revendication 12, une unité de détermination de temps (23) étant disposée du côté du système de mesure de position (20) pour la détermination du temps global constant.
  15. Dispositif selon la revendication 14, l'unité de détermination de temps (23) étant conçue comme compteur du côté du système de mesure de position (20).
  16. Dispositif selon la revendication 11, le système de mesure de position (20) comportant une unité de mémoire (22) pour le stockage des données de position actuellement saisies.
  17. Dispositif selon la revendication 11, l'unité de commande (21) étant conçue comme processeur.
  18. Dispositif selon la revendication 11, l'unité de commande (21) étant conçue comme circuit logique.
EP01113589A 2000-06-21 2001-06-15 Méthode et dispositif de transmission sérielle de données entre un système de mesure de position et une unité de traitement Expired - Lifetime EP1170643B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10030357 2000-06-21
DE10030357A DE10030357A1 (de) 2000-06-21 2000-06-21 Verfahren und Vorrichtung zur seriellen Datenübertragung zwischen einem Positionsmesssystem und einer Verarbeitungseinheit

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EP1170643A2 EP1170643A2 (fr) 2002-01-09
EP1170643A3 EP1170643A3 (fr) 2006-08-30
EP1170643B1 true EP1170643B1 (fr) 2009-04-01

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US (1) US6894984B2 (fr)
EP (1) EP1170643B1 (fr)
JP (1) JP4807908B2 (fr)
AT (1) ATE427523T1 (fr)
DE (2) DE10030357A1 (fr)

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Publication number Publication date
DE50114804D1 (de) 2009-05-14
US6894984B2 (en) 2005-05-17
JP4807908B2 (ja) 2011-11-02
EP1170643A3 (fr) 2006-08-30
US20020015449A1 (en) 2002-02-07
EP1170643A2 (fr) 2002-01-09
ATE427523T1 (de) 2009-04-15
DE10030357A1 (de) 2002-01-17
JP2002082905A (ja) 2002-03-22

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